drivers: can: mcp2515: Add driver for MCP2515 CAN controller

The MCP2515 is a CAN controller that can be connected via SPI to an
host MCU. This driver adds support for the MCP2515 as a new driver in
the CAN subsystem.
As it is a SPI peripheral it uses a thread for its interrupt
handling and the received message filtering is done inside this
interrupt thread, as the MCP2515 filter capabilities are not sufficient
for the Zephyr CAN interface.
The driver was validated with an external CAN logger and the adjusted
CAN sample application.

Signed-off-by: Karsten Koenig <[email protected]>

Author: karstenkoenig

CODEOWNERS

@@ -106,6 +106,7 @@
 /drivers/adc/                             @anangl
 /drivers/bluetooth/                       @sjanc @jhedberg @Vudentz
 /drivers/can/                             @alexanderwachter
+/drivers/can/*mcp2515*                    @karstenkoenig
 /drivers/clock_control/*stm32f4*          @rsalveti @idlethread
 /drivers/counter/                         @nordic-krch
 /drivers/display/                         @vanwinkeljan

drivers/can/CMakeLists.txt

@@ -1,4 +1,5 @@
 # SPDX-License-Identifier: Apache-2.0
 
-zephyr_sources_ifdef(CONFIG_CAN_STM32	stm32_can.c)
-zephyr_sources_ifdef(CONFIG_USERSPACE   can_handlers.c)
+zephyr_sources_ifdef(CONFIG_CAN_STM32    stm32_can.c)
+zephyr_sources_ifdef(CONFIG_CAN_MCP2515  mcp2515.c)
+zephyr_sources_ifdef(CONFIG_USERSPACE    can_handlers.c)

drivers/can/Kconfig

@@ -36,5 +36,6 @@ config CAN_1
 	  Enable CAN controller 1
 
 source "drivers/can/Kconfig.stm32"
+source "drivers/can/Kconfig.mcp2515"
 
 endif # CAN

drivers/can/Kconfig.mcp2515

@@ -0,0 +1,138 @@
+# Kconfig.mcp2515 - MCP2515 CAN configuration options
+
+#
+# Copyright (c) 2018 Karsten Koenig
+#
+# SPDX-License-Identifier: Apache-2.0
+#
+
+config CAN_MCP2515
+	bool "MCP2515 CAN Driver"
+	depends on SPI
+	help
+	  Enable MCP2515 CAN Driver
+
+if CAN_MCP2515
+
+config CAN_MCP2515_NAME
+	string "Driver name"
+	default "MCP2515"
+
+config CAN_MCP2515_OSC_FREQ
+	int "Oscillator frequency"
+	default 8000000
+	help
+	  Specify the frequency of the oscillator connected to the MCP2515.
+
+config CAN_PROP_SEG
+	int "Prop_Seg"
+	default 2
+	range 1 8
+	help
+	  Time quantums of propagation segment (ISO 11898-1)
+
+config CAN_PHASE_SEG1
+	int "Phase_Seg1"
+	default 7
+	range 1 8
+	help
+	  Time quantums of phase buffer 1 segment (ISO 11898-1)
+
+config CAN_PHASE_SEG2
+	int "Phase_Seg2"
+	default 6
+	range 2 8
+	help
+	  Time quantums of phase buffer 2 segment (ISO 11898-1)
+
+config CAN_SJW
+	int "SJW"
+	default 1
+	range 1 4
+	help
+	  Resynchronization jump width  (ISO 11898-1)
+
+config CAN_MCP2515_SPI_PORT_NAME
+	string "SPI device where MCP2515 is connected"
+	default "SPI_1"
+	help
+	 Specify the device name of the SPI device to which MCP2515 is
+	 connected.
+
+config CAN_MCP2515_SPI_SLAVE
+	int "SPI Slave Select where MCP2515 is connected"
+	default 1
+	help
+	 Specify the slave select pin of the SPI to which MCP2515 is
+	 connected.
+
+config CAN_MCP2515_SPI_FREQ
+	int "SPI frequency to use with MCP2515"
+	default 1000000
+	help
+	 SPI frequency to use with MCP2515
+
+config CAN_MCP2515_INT_PORT_NAME
+	string "INT GPIO controller port name"
+	default "GPIO_0"
+	help
+	  GPIO port where INT is connected.
+
+config CAN_MCP2515_INT_PIN
+	int "INT GPIO pin"
+	default 19
+	help
+	  GPIO pin where INT is connected.
+
+config CAN_MCP2515_INT_THREAD_STACK_SIZE
+	int "Stack size for interrupt handler"
+	default 512
+	help
+	  Size of the stack used for internal thread which is ran for
+	  interrupt handling and incoming packets.
+
+config CAN_MCP2515_INT_THREAD_PRIO
+	int "Priority for interrupt handler"
+	default 2
+	help
+	  Priority level of the internal thread which is ran for
+	  interrupt handling and incoming packets.
+
+config CAN_MCP2515_GPIO_SPI_CS
+	bool "Manage SPI CS through a GPIO pin"
+	help
+	  This option is useful if one needs to manage SPI CS through a GPIO
+	  pin to by-pass the SPI controller's CS logic.
+
+if CAN_MCP2515_GPIO_SPI_CS
+config CAN_MCP2515_SPI_CS_PORT_NAME
+	string "GPIO driver's name to use to drive SPI CS through"
+	help
+	  This option is mandatory to set which GPIO controller to use in
+	  order to actually emulate the SPI CS.
+
+config CAN_MCP2515_SPI_CS_PIN
+	int "GPIO PIN to use to drive SPI CS through"
+	default 0
+	help
+	  This option is mandatory to set which GPIO pin to use in order
+	  to actually emulate the SPI CS.
+
+endif #CAN_MCP2515_GPIO_SPI_CS
+
+config CAN_MCP2515_MAX_FILTER
+	int "Maximum number of concurrent active filters"
+	default 5
+	range 1 32
+	help
+	  Defines the array size of the callback/msgq pointers.
+	  Must be at least the size of concurrent reads.
+
+
+config CAN_MCP2515_INIT_PRIORITY
+	int "Init priority"
+	default 80
+	help
+	  MCP2515 driver initialization priority, must be higher than SPI.
+
+endif # CAN_MCP2515